US2019368878A1PendingUtilityA1
Method for determining an orientation of a vehicle
Assignee: CONTINENTAL TEVES AG & CO OHGPriority: Oct 6, 2016Filed: Aug 22, 2017Published: Dec 5, 2019
Est. expiryOct 6, 2036(~10.2 yrs left)· nominal 20-yr term from priority
G05D 1/0212G01C 22/02G06F 17/13G01C 22/025B62D 15/024G01C 21/165
35
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Claims
Abstract
The invention relates to a method for determining an orientation (ψ) of a vehicle relative to a spatially fixed coordinate system (x 0 -0- y 0 ), the method comprising the following steps: determining a traveled distance (S,dS,ΔS) of at least one reference point (P) of the vehicle and/or at least one wheel of the vehicle, and calculating the orientation (Ψ) of the vehicle taking the traveled distance (S,dS,ΔS) into consideration. The invention further relates to a method based on this principle for determining a position (X P ,Y P ) of a vehicle, to a method for determining an odometry of a vehicle, and to a corresponding control device of a vehicle.
Claims
exact text as granted — not AI-modified1 . A method for determining an orientation (ψ) of a vehicle in relation to a spatially fixed coordinate system (x 0 -0-y 0 ), comprising:
determining a distance covered (S,dS,ΔS) by at least one reference point (P) of the vehicle and/or by at least one wheel of the vehicle; and
calculating the orientation (ψ) of the vehicle on the basis of the covered distance (S,dS,ΔS).
2 . The method as claimed in claim 1 , wherein, in the case of a vehicle with front-wheel steering in particular, a midpoint (C r ) between the wheels of the rear axle of the vehicle is used as the reference point (P).
3 . The method as claimed in claim 1 , further comprising:
determining an angle (β) between a tangent to the covered distance (S,dS,ΔS) and a longitudinal axis (x) of the vehicle or between a velocity vector (V P ) of the vehicle and a vehicle longitudinal axis (x); and calculating the orientation (ψ) of the vehicle also on the basis of the angle (β).
4 . The method as claimed in claim 1 , further comprising:
determining a course curvature (κ) and/or a course radius (ρ) of the covered distance (S,dS,ΔS); and calculating the orientation (ψ) of the vehicle on the basis of the course curvature (κ) and/or of the course radius (ρ).
5 . The method as claimed in claim 1 , wherein the orientation (ψ) of the vehicle is determined using or on the basis of at least one of the following expressions:
d
ψ
=
dS
ρ
,
d
ψ
=
κ
·
dS
,
d
ψ
≈
κ
·
Δ
S
,
ψ
(
S
)
=
∫
S
0
κ
(
s
)
·
ds
-
ψ
(
0
)
.
6 . The method as claimed in claim 1 , wherein the orientation (ψ) of the vehicle is calculated using or on the basis of at least one of the following expressions:
d
ψ
=
dS
4
-
dS
3
b
r
,
d
ψ
≈
dS
2
-
dS
1
b
f
cos
δ
A
,
where b f is a track width of the front axle, b r is a track width of the rear axle, dS 1 . . . 4 is a respective distance covered by a respective wheel of the vehicle and δ A is a mean steering lock angle of the front wheels.
7 . The method as claimed in claim 1 , wherein, for determining the covered distance (S,dS,ΔS), wheel ticks from at least one wheel rotational speed sensor assigned to at least one wheel of the vehicle are used.
8 . The method as claimed in claim 1 , wherein the distance covered (S,dS,ΔS) by the midpoint (C r ) of the rear axle of the vehicle is determined using or on the basis of at least the following expression:
dS
Cr
=
dS
3
+
dS
4
2
,
where dS 3,4 is a respective distance covered by a respective wheel of the rear axle of the vehicle.
9 . The method as claimed in claim 3 , wherein the angle (β) between a tangent to the covered distance (S,dS,ΔS) and a longitudinal axis (x) of the vehicle or between a velocity vector (V P ) of the vehicle and a vehicle longitudinal axis (x) is determined on the basis of a steering wheel angle (δ SW ) and/or of a mean steering lock angle of the front wheels (δ A ) and/or of a behavior of a steering system and of a travel direction signal.
10 . The method as claimed in claim 3 , wherein the angle (β) between a tangent to the covered distance (S,dS,ΔS) and a longitudinal axis (x) of the vehicle or between a velocity vector (VP) of the vehicle and a vehicle longitudinal axis (x) is determined using or on the basis of the following expression:
β
=
δ
A
≈
δ
SW
i
L
,
where i L is a steering ratio.
11 . The method as claimed in claim 4 , wherein the course curvature (κ) and/or the course radius (ρ) of the covered distance (S,dS,ΔS) are/is determined on the basis of a mean steering lock angle (δ A ) of the front wheels.
12 . A method for determining a position (X P ,Y P ) of a vehicle in relation to a spatially fixed coordinate system (x 0 -0-y 0 ), comprising:
calculating the position (X P ,Y P ) of the vehicle on the basis of an orientation (ψ) of the vehicle calculated by a method as claimed in claim 1 .
13 . The method as claimed in claim 12 , further comprising:
determining an angle (β) between a tangent to the covered distance (S,dS,ΔS) and a longitudinal axis (x) of the vehicle or between a velocity vector (V P ) of the vehicle and a vehicle longitudinal axis (x); and calculating the position (X P ,Y P ) of the vehicle also on the basis of the determined angle (β).
14 . The method as claimed in claim 12 , wherein the position (X P ,Y P ) of the vehicle is calculated using or on the basis of at least one of the following expressions:
dX
=
cos
(
ψ
(
S
)
+
β
(
S
)
)
·
dS
,
dY
=
sin
(
ψ
(
S
)
+
β
(
S
)
)
·
dS
,
X
(
S
)
=
∫
S
0
cos
(
ψ
(
s
)
+
β
(
s
)
)
·
ds
,
Y
(
S
)
=
∫
0
S
sin
(
ψ
(
s
)
+
β
(
s
)
)
·
ds
,
where X P ,Y P are the coordinates of a reference point (P) of the vehicle in the spatially fixed coordinate system (x0-0-y0).
15 . A method for determining an odometry of a vehicle, comprising:
determining an orientation (ψ) of the vehicle in relation to a spatially fixed coordinate system (x0-0-y0); and determining a position (X P ,Y P ) of a vehicle in relation to the spatially fixed coordinate system (x0-0-y0) as claimed in claim 12 .
16 . A control device for a vehicle comprising a memory and a processor, wherein the control device is configured to carry out at least one method as claimed in claim 1 , wherein the method is stored in the memory in the form of a computer program and the processor is suitable for carrying out the method when the computer program is loaded into the processor from the memory.
17 . The method as claimed in claim 2 , further comprising:
determining an angle between a tangent to the covered distance and a longitudinal axis of the vehicle or between a velocity vector of the vehicle and a vehicle longitudinal axis; and
calculating the orientation of the vehicle also on the basis of the angle.
18 . The method as claimed in claim 13 , wherein the position (X P ,Y P ) of the vehicle is calculated using or on the basis of at least one of the following expressions:
dX
=
cos
(
ψ
(
S
)
+
β
(
S
)
)
·
dS
,
dY
=
sin
(
ψ
(
S
)
+
β
(
S
)
)
·
dS
,
X
(
S
)
=
∫
S
0
cos
(
ψ
(
s
)
+
β
(
s
)
)
·
ds
,
Y
(
S
)
=
∫
0
S
sin
(
ψ
(
s
)
+
β
(
s
)
)
·
ds
,
where X P ,Y P are the coordinates of a reference point (P) of the vehicle in the spatially fixed coordinate system (x0-0-y0).Join the waitlist — get patent alerts
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